# External Force Sensing Based on Cable Tension Changes in Minimally Invasive Surgical Micromanipulators

> Research article (IEEE Access, 2018) · cited 24× · AI/ML

**Wikidata**: [openalex:W2783809542](https://www.wikidata.org/wiki/openalex:W2783809542)  
**Source**: https://4ort.xyz/entity/external-force-sensing-based-on-cable-tension-changes-in-minimally-invasive-surgical-micromanipulators